Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.

Joint Beamforming Design for Dual-Functional Radar-Communication Systems Under Beampattern Gain Constraints

The joint beamforming design challenge for dual-functional radar-communication systems is addressed in this paper.The base station in these systems is tasked with simultaneously sending shared signals for both multi-user communication and target sensing.The primary objective is to maximize the sum rate of multi-user communication,while also ensuring sufficient beampattern gain at particular angles that are of interest for sensing,all within the constraints of the transmit power budget.To tackle this complex non-convex problem,an effective algorithm that iteratively optimizes the joint beamformers is developed.This algorithm leverages the techniques of fractional programming and semidefinite relaxation to achieve its goals.The numerical results confirm the effectiveness of the proposed algorithm.

Joint Transceiver Designs for Full-Duplex MIMO SWIPT Systems Based on MSE Criterion

For the simultaneous wireless information and power transfer(SWIPT), the full-duplex MIMO system can achieve simultaneous transmission of information and energy more efficiently than the half-duplex. Based on the mean-square-error(MSE) criterion, the optimization problem of joint transceiver design with transmitting power constraint and energy harvesting constraint is formulated. Next, by semidefinite relaxation(SDR) and randomization method, the SDRbased scheme is proposed. In order to reduce the complexity, the closed-form scheme is presented with some simplified measures. Robust beamforming is then studied considering the practical condition. The simulation results such as MSE versus signal-noise-ratio(SNR), MSE versus the iteration number, well prove the performance of the proposed schemes for the system model.

Joint Transceiver Design for OFDM Systems

Orthogonal Frequency Division Multiplexing(OFDM) is an effective technique to deal with a frequency selective channel since it can convert the channel into some flat fading subchannels.However,very different output SNR values of the subchannels will lead to poor bit error performance when a linear equalizer and Equal Bit Allocation(EBA) are adopted in OFDM systems.So,we proposed three novel nonlinear Joint Transceiver(JT) schemes based on Zero-Forcing(ZF) criterion and Minimum Mean Square Error(MMSE) criterion respectively,which can transform all subchannels of an OFDM system into subchannels with identical channel gain.Thus,EBA is equivalent to the Optimum Bit Allocation(OBA) for these subchannels.Numerical analysis helps us to obtain the theoretical approximate BER values of the JT scheme.Simulation results verify the numerical analysis and confirm that the performance of our proposed JT scheme greatly outperforms the traditional linear equalizer with EBA at moderate and high SNR values.

Subsection method of fatigue design for welded joints treated by ultrasonic peening

Concerning the notable difference between the S-N curve slope of welded joints treated by ultrasonic peening treatment （UPT） and that of as-welded joints, the subsection method is put forward for fatigue design of welded joints treated by UPT, using the design method of nominal S-N curves. Results show that, in medium life zone, strength grade of the fatigue design curves for UPT welded joints is two grades higher than that for as-welded joints. Furthermore, in medium life zone, strength grade of the fatigue design curves for UPT welded joints is three grades lower than that in long life zone. Conclusion of the comparison is that as for different joint types in different life zones, fatigue design should be processed according to different S-N curves respectively.

Nonlinear Finite Element Analysis and Optimum Design of Spot-Welded Joints and Weld-Bonded Joints

Resistance spot welding and hybrid weld bonding have wide applications in the body work construction within the automobile industry. The integrity of the spot welds and applied adhesives determines the body assembly rigidity and dynamic performance. Incorporating contact nonlinearity and geometric nonlinearity, finite element analysis (FEA) have been carried out to investigate the structural stiffness and strength of both spot-welded and weld-bonded assemblies. Topology optimization has been performed to reveal the distributions of material effectiveness in the overlap regions and suggest a feasible method for removing underutilized material for weight reduction. Design optimization has been conducted with an aim to reduce the maximum von Mises stress in the assembly to minimum by choosing optimum values for a set of design variables, including the weld spacing, weld diameter and overlap width.

Design of a Modified Cassegrain System Used in Joint Transform Correlator

In order to detect and recognize infrared target with joint transform correlator,a modified Cassegrain optical system is designed.The main advantages of the system are large field-of-view,infrared dual-band common optical path and compact structure.In the modified Cassegrain optical system,the working wavelengths are 3.7~4.8μm and 8~12μm,the field-of-view is 4° and the aperture is 240mm.The paraboloidal primary mirror and hyperboloidal secondary mirror are all replaced by spherical surfaces.So the problems of high machining accuracy and alignment become much easier.In order to balance the aberrations,three compensating lenses are used in the system.The total length of the system is 183mm,and the ratio of the total length to focal length is 0.68.Moreover,the system has a good performance of athermalization between negative 40℃ and positive 60℃.The design results of the system show that the MTF value of each field is greater than 0.72 when the cut-off frequency is 11lp/mm.Due to the excellent image quality of the modified optical system,the ability of Joint transform correlator(JTC)applied in target tracking and identification has been improved for further.

Shape design of the reinforcement for bending load-carrying capacity of under-matched butt joint under four-point bending load

To improve the bending load-carrying capacity （ BLCC） of under-matched butt joint under four-point bending load in the elastic stage, the shape design of the reinforcement is studied based on the theoretics of mechanics of materials. The concept, criterion, realization condition and design proposal of equal bending load-carrying capacity （EBLCC） are put forward. The theoretical analysis results have been verified by the finite element method. The simulation results are coincident basically with the ones of theoretical analysis. The research results show that the shape design of the reinforcement of EBLCC can improve BLCC of under-matched butt joint and the unilateral-side type reinforcement can replace double-side symmetry

Design and Analysis of Tapered Stress Joint for Top Tensioned Riser System

Stress Joint （SJ） plays a key role in the Top Tensioned Riser （TTR） system for deep water engineering. A preliminary design method of tapered SJ is proposed in the paper, which could help designers obtain accurate design data. After a further sensitive analysis is carried out, the related parameters choice and control methods are recommended in the engineering practice. By taking the extreme environment conditions into consideration, the effects of bending stress reduction and curve control are analyzed, and the 3-D FE models are established by ABQOUS for numerical evaluation to verify the correctness of design results. At last, dynamic analysis and fatigue analysis, based on actual project, are carried out with designed stress joint. The analysis results prove the feasibility and guidance of this method in the practical engineering applications.

Study on solder joint reliability of ceramic ball grid array component based on design of experiment method

Four process parameters, pad diameter, stencil thickness, ball diameter and stand-off were chosen as four control factors. By using an L25 （5^6 ） orthogonal array the ceramic ball grid array （ CBGA ） solder joints which have 25 different combinations of process parameters were designed. The numerical models of all the 25 CBGA solder joints were developed using the Sugrace Evolver. Utilizing the sugrace coordinate exported from the 25 CBGA solder joints numerical models, the finite element analysis models were set up and the nonlinear finite element analysis of the CBGA solder joints under thermal cycles were pegrormed by ANSYS. The thermal fatigue life of CBGA solder joint was calculated using Coffin-Manson equation. Based on the calculated thermal fatigue life results, the range analysis and the variance analysis were pegrormed. The results show that the fatigue life of CBGA solder joint is affected by the pad diameter, the stencil thickness, the ball diameter and the stand-off in a descending order, the best combination of process parameters results in the longest fatigue life is 0.07 mm stand-off, 0.125 mm stencil thickness of, 0.85 mm ball diameter and 0. 89 mm pad diameter. With 95% confidence the pad diameter has a significant effect on the reliability of CBGA solder joints whereas the stand-off, the stencil thickness and the ball diameter have little effect on the reliability of CBGA solder joints.

Joint Return Value Estimation of Significant Wave Heights and Wind Speeds with Bivariate Copulas

The joint design criteria of significant wave heights and wind speeds are quite important for the structural reliability of fixed offshore platforms.However,the design method that regards different ocean environmental variables as independent is conservative.In the present study,we introduce a bivariate sample consisting of the maximum wave heights and concomitant wind speeds of the threshold by using the peak-over-threshold and declustering methods.After selecting the appropriate bivariate copulas and univariate distributions and blocking the sample into years,the bivariate compound distribution of annual extreme wave heights and concomitant wind speeds is constructed.Two joint design criteria,namely,the joint probability density method and the conditional probability method,are applied to obtain the joint return values of significant wave heights and wind speeds.Results show that(28.5±0.5)m s^(-1)is the frequently obtained wind speed based on the Atlantic dataset,and these joint design values are more appropriate than those calculated by univariate analysis in the fatigue design.

非对称型假体设计及全膝关节置换后的力学分析

背景:全膝关节置换是治疗膝关节晚期病症的有效手段,但假体衬垫容易因内部应力变化而产生磨损失效,寿命有限且术后患者的活动能力降低。如何对假体进行改进设计来满足患者更多的需求是假体研究的重要方向。目的:基于半月板的形态设计一种非对称型假体,并与对称设计的后稳定型假体进行比较,分析2种假体的应力分布情况和衬垫的接触面积变化,以探究非对称型假体设计是否存在优势。方法:通过有限元方法对1例膝骨关节炎患者进行模拟截骨和假体装配,建立基于非对称型假体及对称设计的后稳定型假体的全膝关节置换术后膝关节模型。在0°,10°,20°,30°的屈膝条件下,探究股骨假体、胫骨假体以及衬垫上的Mises应力,并通过对比衬垫内外侧的接触面积,分析全膝关节置换后膝关节生物力学变化和运动行为的改变。结果与结论:(1)在0°-30°的屈膝过程中,2种假体衬垫上的Mises应力峰值均表现出先减小后增大的趋势,且内侧始终大于外侧。(2)非对称型设计的假体与后稳定型假体相比,应力峰值更低;在屈膝30°时,非对称型假体衬垫内外侧的Mises应力峰值分别为15.81 MPa和11.95 MPa,后稳定型衬垫为16.70 MPa和13.76 MPa,两者内侧差值约为5.33%,而外侧则相差13.15%;对比股骨假体和胫骨假体上的Mises应力峰值,非对称型假体在屈膝过程中始终低于后稳定型假体。(3)在0°站立位时,后稳定型假体衬垫的内侧接触面积为17.96 mm^(2)、外侧为34.10 mm^(2);而非对称型假体衬垫的内外侧接触面积分别为105.47 mm^(2)和107.80 mm^(2),具有更大的接触面积且两侧差距更小。(4)结果表明,非对称型假体的生物力学表现更好,且能够对维持膝关节稳定性、提升关节活动度有所帮助。这种设计能够在一定程度上还原膝关节以内侧髁为轴进行外旋的运动机制,是一种更为有效的膝关节假体选择方案。

应用Designer与HFSS对激光焊接工艺的联合仿真

应用Designer与HFSS联合仿真技术研究激光焊接工艺对连接性能的影响。首先,在HFSS中建立一个标准的BGA焊点模型,通过改变其尺寸参数仿真,得到使回波损耗最小的参数组合;随后,在Designer中建立激光模型,把HFSS中的焊接连接工艺模型以N端口元件的形式嵌入到Designer建立的激光中,进行联合仿真;最后,对嵌入焊接连接工艺前后的仿真结果进行对比分析,得出焊点及焊点尺寸的改变对激光性能的影响。在高频段,随着焊点高度的增加,焊点的回波损耗随之减小,当焊点高度为0.50 mm时,回波损耗最小,因而应优先选择0.50 mm的焊点高度。

Uncertainty and joint probability of sea ice loads

Ice load is one of the most important factors for design of marine stuctures in cold sea area.The designcriteria of ice loads for marine structures consist of two parts: level ice thickness and crushing strength. Due to thestrong randomness of the affecting factors on ice thickness and crushing strength, such as ice temperature,air temperature, water temperature,salinity,wind field, numerical simulation method method can not produce satisfactory results. Thispaper proposes a method of uncertainty analysis and joint probabilistic prediction of level ice thickness and crushingstrength instead of traditional ice load criteria for marine structures.

Computing in-situ strength of rock masses based upon RQD and modified joint factor: Using pressure and damage sensitive constitutive relationship

In th is study, a n e w m odel w as p re se n te d for com p u tin g stre n g th o f rock m asses based u p o n in -situo bservations o f RQD p o pularly kno w n as rock quality d esignation. This m odel links u p th e rock m assp aram eters from in -situ investigations w ith th e stre n g th p a ram eters o f jo in ted rocks obtain ed fromlaboratory scale ex p erim en tal observations. Using th e co n stitu tiv e relation, th e a u th o r derived a p ressu reand d am age sensitive plastic p a ra m e te r to d ete rm in e stre n g th o f rock m asses for varied ex te n ts ofd isco n tin u ity an d p ressu re induced dam age. The te s t results show th a t plasticity characterized byhard en in g an d softening inclusive o f dam ag e invariably d e p en d s u p o n m ean p ressu re an d e x te n t ofdefo rm atio n s alread y experien ced by rock m asses. The p re se n t w ork explores th e te s t d a ta th a t revealth e d ep en d en c e o f in -situ stren g th on increm ental jo in t p ara m e te rs o b tain ed from th e jo in t num ber,jo in t orien tatio n , jo in t roughness, gouge p a ram eters an d w a te r pressure. S ubstituting th e relationshipb e tw e e n th e RQD and m odified jo in t factor w ith th a t b e tw e e n m odulus ratio an d stren g th ratio, th em odel show s successfully th a t using d am age inclusive plastic p a ra m e te r an d RQD provides a relationshipfor estim atin g th e stre n g th o f rock m asses. One o f th e m ain objectives o f this w ork is to illustrate th a t th ep re se n t m odel is sensitive to p la s tic ity a n d dam ag e to g e th e r in estim atin g in -situ stre n g th o f rock m assesin foundations, u n d e rg ro u n d excavation an d tunnels.

Ultrasonic C-scan inspection of brazed joint in thin panel honeycomb structure

The non-destructive testing of brazed joint in honeycomb structure with thin panel （ thickness ： 0. 2 mm） was studied by ultrasonic C-scan method. Samples with different types of artificial defect were designed; the characteristic signal and the main parameters of the test were determined by the pre-experiment, and then parameters were optimized by orthogonal design, finally the optimum process was verified by a single panel sample. The multiple reflection echoes were chosen as the characteristic signal. The optimal C-scan results were achieved when the 20 MHz focus probe was used, and the pass band range for received signal were selected as 8 - 17. 5 MHz. The defects such as incomplete penetration and core damage can be detected with ultrasonic C-scan, and the detection accuracy can reach to 1 ram.

公路隧道二衬钢筋装配化螺栓的接头设计

针对公路隧道二衬钢筋现场焊接、绑扎效率低、质量控制难度大的弊端,基于直线型混凝土软化本构模型及钢筋应力应变关系,推导得到钢筋混凝土衬砌截面的极限承载力计算式.结合螺栓连接面极限承载力,以应力分布系数作为控制因素,将轴心压缩状态、大小偏心分界点以及纯弯状态时的最危险截面作为特征截面,控制钢筋混凝土截面极限承载力以及螺栓连接面极限承载力在特征截面处的大小,得到连接面处螺栓的设计方法 .选取某隧道隧址围岩参数及其断面尺寸、支护参数,运用得到的螺栓设计方法进行螺栓选型并设计连接面处的螺栓分布,给出钢筋预制节段的划分方案,通过数值模拟验证了二衬钢筋装配化螺栓的接头设计的合理性.研究结果表明:钢筋骨架采用螺栓装配化预制连接后,二衬结构的应力进行了重分布,应力与变形的增长速率放缓,并逐渐稳定.最终,左拱肩和左拱脚处的应力分别降低58%和53%,位移量同样有不同程度的降低;在拱底螺栓连接面,应力相较提高,但由于螺栓的高承载性能,隆起量反而有所降低,充分发挥了螺栓的性能,实现了结构优化.

超深覆盖层上面板坝防渗墙连接板接缝变形机制及优化分析

针对超深软弱覆盖层上的面板坝工程止水缝安全问题,从变形和应力2个方面开展优化研究,揭示了防渗墙连接板趾板面板防渗体系的变形模式,定位了薄弱位置,提出了优化方案,并量化了工程应用效果.结果表明,防渗墙与趾板间沉降差集中在防渗墙与连接板之间的止水缝处,设置多块连接板无法起到逐步过渡沉降差的作用.防渗墙下游侧设置侧向支撑、制作倾斜形止水缝、趾板下设支撑墙均可减小防渗墙连接板间止水缝沉陷变形.相比垂直止水缝和多块连接板的传统方案,所提的防渗墙顶部拓宽连接板倾斜形止水缝以及防渗墙顶部拓宽倾斜形止水缝趾板下设支撑墙的深厚覆盖层上面板坝防渗体系综合优化方案可使防渗墙与连接板之间止水缝沉陷变形分别减小41.5%和53.8%.

绿色低碳及人本视角下的未来校园空间研究——以东南大学和康奈尔大学研究生联合设计教学课程为例

在城市低碳发展的背景下,积极应对新技术、新发展的挑战,探索校园低碳发展的新路径成为大学校园发展的重要议题。本文通过东南大学和康奈尔大学研究生联合设计教学课程,聚焦大学校园的低碳设计,从绿色低碳及人本视角出发,以东南大学九龙湖校区校园的两个项目为代表案例,综合运用多学科方法和视角,探索校园建筑和环境低碳设计的路径与方法,对在新的时代背景和新的发展趋势之下的未来校园空间进行大胆探索。

“双一流”建设下的多专业联合毕业设计教学模式研究

通过多元化教学模式,积极探索“双一流”学科内部各专业联合毕业设计模式和全过程标准化设计管理,对于全面提升学科建设水平和实现“双一流”建设培养一流人才的目标具有重要意义。分析国内联合毕业设计教学模式,探讨北京工业大学城市建设学部多专业联合毕业设计的可行性。基于学科交叉与专业融合,提出了多专业联合毕业设计的教学目标,通过基于混合教学的多专业联合毕业设计教学实践,提出教学方法、设计选题题库、资源的整合与共享、质量控制、组织形式和教学评估反馈等具体实施细节。